JP2012126353A - Mobile inverted pendulum - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mobile inverted pendulum that can prevent runaway of the mobile inverted pendulum when a rider cannot control the mobile inverted pendulum.SOLUTION: The mobile inverted pendulum includes: a vehicle body having a riding part on which the rider rides; a rotary body which is rotatably supported on the vehicle body; a rotary body-driving means which rotatably drives the rotary body; and a control device which controls the rotary body-driving means for allowing the mobile inverted pendulum to travel in accordance with a traveling instruction while keeping a balance, wherein the mobile inverted pendulum further includes an out-of-control state-determining means for determining that the rider cannot control the mobile inverted pendulum, and the control device stops a traveling of the mobile inverted pendulum when it is determined that the rider cannot control the mobile inverted pendulum, based on information detected by the out-of-control state-determining means.

Description

  The present invention relates to an inverted pendulum type moving body in which traveling control is performed while maintaining a balance in accordance with a traveling command.

  2. Description of the Related Art Conventionally, an inverted pendulum type moving body is known that is configured to stably travel an unstable vehicle that easily falls over while maintaining balance. As one mode of such an inverted pendulum type moving body, for example, there is a coaxial two-wheeled vehicle including a pair of wheels arranged on the same axis. This coaxial two-wheeled vehicle travels while maintaining the balance of the vehicle body by controlling the output of an electric motor that rotationally drives a pair of wheels based on a travel command by a control stick operated by a passenger and weight shift by the passenger. It is.

  In such a coaxial two-wheeled vehicle, translational motion control that follows a travel target value for forward or reverse travel generated based on a travel command by a control stick or a weight shift of a passenger, and feedback so that an unstable vehicle does not fall over. The traveling control is executed by superimposition with the inverted control in which the control or the robust control is performed. (See, for example, Patent Documents 1 and 2).

JP 63-305082 A JP 2004-295430 A

  By the way, such an inverted pendulum type moving body has a controllable invertible angle region. This invertible angle region is, for example, a range in which the inclination of the vehicle body with respect to the horizontal plane is ± 10 degrees. For this reason, the passenger performs a reckless operation due to some reason, or some disturbance is given to the inverted pendulum type moving body from a collision with a person or an obstacle, or a rough road surface, and the inverted pendulum type If the tilt angle of the moving body exceeds the invertible angle range, the inverted pendulum type moving body becomes difficult to control upside down, and the passenger falls or the inverted pendulum type moving body falls, and the passenger There is a risk that it will be impossible to maneuver by.

  In such a case, it is often difficult to turn off the power of the inverted pendulum type moving body by operating the main switch or the kill switch, and the passenger has fallen or the inverted pendulum type moving body has fallen. In this state, there is a high possibility that the traveling control of the inverted pendulum type moving body is continued. As a result, the inverted pendulum type moving body becomes an unexpected traveling state despite the fact that it cannot be operated by the passenger, causing harm to the passenger, the surrounding pedestrians, or the surrounding objects. There is a risk of damage.

Therefore, in view of such a problem, the inventors of the present invention are configured to forcibly stop the traveling of the inverted pendulum type moving body when the inoperable state by the passenger is detected. The present invention has been completed by discovering that various problems can be solved.
Therefore, an object of the present invention is to provide an inverted pendulum type moving body that can prevent the inverted pendulum type moving body from running out of control when it becomes impossible for a passenger to control.

  According to the present invention, a vehicle body having a riding section on which a passenger rides, a rotating body rotatably supported by the vehicle body, a rotating body driving means for rotating the rotating body, and an inverted body while maintaining a balance in accordance with a travel command. In an inverted pendulum type moving body provided with a control device that controls the rotating body driving means to run the pendulum type moving body, and equipped with a steering impossible detection means for detecting an uncontrollable state by a passenger, The control device is provided with an inverted pendulum type moving body, characterized in that when the inoperable state is detected based on information detected by the inoperability detecting means, the inverted pendulum type moving body is stopped. Problem can be solved.

  That is, the inverted pendulum type moving body of the present invention is configured to detect a state in which the rider cannot control and forcibly stop the traveling of the inverted pendulum type moving body. Therefore, the inverted pendulum type moving body will not run out of control when it becomes impossible for the passenger to control it, and it will cause harm or damage to the passenger, surrounding pedestrians, surrounding objects, etc. The fear can be reduced.

  Further, when configuring the inverted pendulum type moving body of the present invention, the steering impossible detection means detects the fall of the passenger using means for detecting whether or not the passenger is on the riding section. It is preferable.

  In the present invention, the steering impossibility detecting means is configured by means for detecting whether or not the passenger is on the boarding portion, thereby accurately detecting the steering impossible state due to the fall of the passenger. be able to.

  Further, when configuring the inverted pendulum type moving body of the present invention, the steering impossible detection means is calculated by comparing the target rotational speed instructed by the rotating body driving means with the rotational speed of the rotating body. It is preferable to detect.

  In the present invention, the steering impossible detection means is a means for performing a calculation for comparing the target rotational speed of the rotator with the actual rotational speed, so that it is possible to control the passenger by falling without using a special sensor or the like. Impossible state can be estimated.

  Further, when configuring the inverted pendulum type moving body of the present invention, it is preferable that the steering impossible detection means detects the fall of the inverted pendulum type moving body using means for detecting the tilt angle of the vehicle body.

  In the present invention, since the inoperability detection means is means for detecting the fall of the moving body, it is possible to reliably detect that the rider has become inoperable due to the fall of the moving body.

  In configuring the inverted pendulum type moving body of the present invention, it is preferable that the control device stops the traveling of the inverted pendulum type moving body by setting the output of the rotating body driving means to zero.

  In the present invention, the control device can stop the inverted pendulum type moving body as quickly as possible by forcibly stopping it by setting the output of the rotating body driving means to zero. It is easy to avoid harm and damage to the etc.

  Further, in configuring the inverted pendulum type moving body of the present invention, it is preferable that the control device gradually decreases the output of the rotating body driving means to make the output zero.

  In the present invention, the control device gradually decreases the output of the rotating body drive means to zero to forcibly stop it, so that the inverted pendulum type moving body is moved as quickly as possible while maintaining the balance of the inverted pendulum type moving body. It is possible to reduce the danger and damage caused by the fall of the inverted pendulum type moving body.

  In configuring the inverted pendulum type moving body of the present invention, it is preferable that the control device stops the traveling of the inverted pendulum type moving body by cutting off the main power supply.

  In the present invention, the control device forcibly stops by shutting off the main power supply, so that the runaway of the inverted pendulum type moving body can be reliably prevented.

It is the front view and side view of an inverted pendulum type moving body concerning an embodiment of the invention. It is a figure for demonstrating the structural example of the steering impossible detection means with which the inverted pendulum type mobile body concerning embodiment of this invention was equipped. It is a control circuit diagram of the inverted pendulum type moving body concerning an embodiment of the invention. It is a countermeasure table figure of the control method of the inverted pendulum type moving body concerning an embodiment of the invention. It is a flowchart figure which shows an example of the control method of the inverted pendulum type mobile body concerning embodiment of this invention. It is a flowchart figure which shows an example of the traveling control of an inverted pendulum type mobile body. It is a flowchart figure which shows an example of forced stop control. It is a figure for demonstrating the structural example of another steering impossible detection means. It is a figure for demonstrating the structural example of another steering impossible detection means. It is a flowchart figure which shows an example of the method of estimating the presence or absence of a fall by arithmetic processing.

Hereinafter, an embodiment relating to an inverted pendulum type moving body according to the present invention will be specifically described with reference to the drawings as appropriate. However, the following embodiment shows one aspect of the present invention and does not limit the present invention, and can be arbitrarily changed within the scope of the present invention.
In addition, in each figure, about the thing which has attached | subjected the same code | symbol, the same member is shown and description is abbreviate | omitted suitably.

1. Configuration of Inverted Pendulum Type Moving Body FIG. 1A shows a front view of a moving body 10 according to this embodiment, and FIG. 1B shows a side view of the moving body 10. Moreover, FIG. 2 is a figure which shows the structural example of the 1st steering impossible detection means 60 with which the moving body 10 of this embodiment was equipped. Further, FIG. 3 shows a control circuit diagram of the moving body 10 of the present embodiment.

  The moving body 10 is configured as a coaxial two-wheeled vehicle including a vehicle body 11 having a riding portion 19 on which a passenger rides, a pair of left and right wheels 13L and 13R as a rotating body, and a handle 15. The pair of wheels 13 </ b> L and 13 </ b> R are disposed on the same axis on both sides in the left-right direction orthogonal to the front-rear direction of the moving body 10, and are supported rotatably with respect to the vehicle body 11. The pair of wheels 13 </ b> L and 13 </ b> R are connected to a left wheel drive motor 31 and a right wheel drive motor 32 as rotating body drive means accommodated in the motor box 17.

  Moreover, the mobile body 10 is provided with the travel command detection means used in order to generate | occur | produce the travel command of the mobile body 10 by a passenger. In the moving body 10 of the present embodiment, an inclination angle sensor 25 that detects the inclination angle θ of the handle 15 is used as a travel command detection means. In the control device 50, based on the change in the inclination angle θ, the passenger's The travel intention of the mobile body 10 is determined by determining the travel intention. As will be described later, in the moving body 10 of the present embodiment, the tilt angle sensor 25 also has a function as the second steering impossible detection means 70.

  The inclination angle sensor 25 may be replaced with an inclination angle sensor that detects the inclination angle of the riding section 19, or may be configured using a gyro sensor instead of the inclination angle sensor. Or it can also comprise using the sensor which detects a passenger's gravity center position. Further, as far as the function of detecting the travel command is concerned, the control of the moving body 10 is controlled based on the control signal of the control stick using the control stick operated by the passenger as the travel command detecting means. You can also.

  In addition, the movable body 10 is provided with a first maneuvering detection unit 60 and a second maneuvering detection unit 70 as a maneuvering inability detecting unit for detecting an inoperable state by a passenger. Among these, the 1st maneuverability detection means 60 is a means for detecting the presence or absence of the passenger on the riding part 19, Comprising: The moving body 10 itself detects the improper operation state by the passenger when the mobile body 10 itself has not fallen. Used for. The second steering impossible detection means 70 is mainly used to detect a steering impossible state by the occupant by detecting the fall of the moving body 10.

  In the moving body 10 of the present embodiment, the first steering impossible detection means 60 is configured by connector pins 61a and 61b, sockets 62a and 62b, a pin cord 63, and a connecting means 65, as shown in FIG. Has been. The first maneuver detection means 60 is used in a state where the passenger connects the connecting means 65 to his / her body when boarding, and the two connector pins 61a and 61b are inserted into the sockets 62a and 62b, respectively. While being energized, the energized state is established, while energization is interrupted when at least one of the two connector pins 61a, 61b falls out of the sockets 62a, 62b. Therefore, the control device 50 can detect the fall of the passenger by distinguishing the energized state or the non-energized state.

  The second steering impossible detection means 70 is constituted by the tilt angle sensor 25 that also functions as a travel command detection means. In the control device 50, it is possible to estimate the fall of the moving body 10 by determining whether or not the tilt angle θ of the handle 15 detected by the tilt angle sensor 25 is outside the invertible angle region.

  The control device 50 includes, for example, an arithmetic circuit 51 having a microcomputer (CPU) and a storage means 53 having a program memory, a data memory, and other RAMs and ROMs. The control device 50 can receive a detection signal from the first steering impossible detection means 60 and a detection signal from the inclination angle sensor 25 as the travel command detection means and the second steering impossible detection means 70. Yes. Further, the control device 50 includes motor drive circuits 41 and 42 for driving the left wheel drive motor 31 and the right wheel drive motor 32, respectively, and a cylinder A35, a cylinder B36, a cylinder C37, .. are connected to cylinder drive circuits 45, 46, 47,.

  The motor drive circuits 41 and 42 individually control the rotation speed and rotation direction of the pair of wheels 13L and 13R, and the left wheel drive motor 31 and the right wheel drive motor 32 are individually connected to each other. The cylinder drive circuits 45, 46, 47... Individually control expansion and contraction of the cylinder A35, cylinder B36, cylinder C37..., And the cylinder A35, cylinder B36, cylinder C37. Has been.

2. 4. Inverted pendulum type moving body control method Next, with respect to the control method of the inverted pendulum type moving body 10 of the present embodiment performed by the control device 50, the countermeasure table diagram of FIG. 4 and the flowchart diagrams of FIGS. This will be explained based on.

First, based on FIG. 4, a countermeasure (control) that the control device 50 should take according to the detection results of the first maneuverability detection means 60 and the second maneuverability detection means 70 will be described.
FIG. 4 shows the detection results of the first steering impossible detection means 60 and the second steering impossible detection means 70 and the countermeasures (control) to be taken according to the detection results in the moving body 10 of the present embodiment. It is a table figure shown.

The control device 50 recognizes that the occupant is on board when the connector pins 61a and 61b constituting the first steering impossible detection means 60 are inserted into the sockets 62a and 62b (= PIN: ON). On the other hand, when the connector pins 61a and 61b are disengaged from the sockets 62a and 62b (= PIN: OFF), it is recognized that the passenger has fallen.
Further, the control device 50 recognizes that the moving body 10 is in the inverted state if the inclination angle θ detected by the inclination angle sensor 25 as the second steering impossible detection means 70 is within the invertible angle region, If the tilt angle θ is outside the invertible angle region, it is recognized that the mobile body 10 has fallen.

When the initial setting is completed and the connector pins 61a and 61b are inserted into the sockets 62a and 62b by the passenger, the moving body 10 is recognized as being in a normal state (CASE 1).
After that, after the passenger gets on and travel control is started, as long as PIN: ON and the inclination angle θ is within the invertible angle region, the moving body 10 is recognized as a normal state (CASE 1), and the control device 50 executes normal traveling control.

  On the other hand, after the traveling control is started, when the inclination angle θ is outside the invertible angle region, it is recognized that the moving body 10 has fallen (CASE 3), and the control device 50 determines whether or not there is a passenger. That is, the main power supply of the moving body 10 is forcibly cut off regardless of PIN: ON or PIN: OFF.

  Even when the inclination angle θ is within the invertible angle region, if PIN: OFF, the passenger 10 is recognized as having fallen while the moving body 10 is inverted (CASE 2), and control is performed. The device 50 decelerates the moving body 10 and forcibly stops it.

  The control executed by the control device 50 will be described with reference to a flowchart. First, in step S1 of FIG. 5, the control device 50 performs initial setting of the system. Specifically, this step S1 is a step of confirming the completion of the setting of the first steering impossible detection means 60 or setting the detection value of the tilt angle sensor 25 to the default when the vehicle body 11 is in the horizontal state. . For example, when the power of the moving body 10 is turned on, the control device 50 determines whether the connector pins 61a and 61b are inserted into the sockets 62a and 62b and are in an energized state. In addition, in a state where the vehicle body 11 is in a horizontal state before the passenger gets on, after the initial setting button is pressed by the passenger, the currently detected inclination angle θ is set to the reference angle θ0.

Next, in step S <b> 2, the control device 50 starts translational travel control and inversion control of the moving body 10. For example, the control device 50 starts translational travel control and inversion control triggered by the determination that the boarding is possible. At the same time, a signal for displaying on the operation panel or the like that can be boarded is output. Thereafter, the passenger gets on the vehicle body 11, and the driving of the moving body 10 is started by the passenger.
Note that the start timing of translational travel control and inversion control, and the timing for displaying the possibility of boarding are not limited to this example. For example, a display indicating that boarding is possible may be displayed when the above step S1 is completed, and the translational travel control and the inverted control may be started when the control start button is pressed by the passenger or the like.

  Next, in step S3, it is determined whether or not the tilt angle θ detected by the tilt angle sensor 25 as the second steering impossible detection means 70 is within the invertible angle region. For example, the determination is made based on whether or not the detected inclination angle θ is within the range of the reference angle θ0 ± 10 °. When it is determined that the inclination angle θ is outside the invertible angle region, the control device 50 determines that the moving body 10 is falling, and forcibly turns on the power source to prevent the moving body 10 from running away. Shut off. In this case, the next time the power is turned on, the initial setting of step S1 is started again.

  On the other hand, when it is determined in step S3 that the inclination angle θ is within the invertible angle region, in the next step S4, the control device 50 determines whether the passenger has fallen from the vehicle body 11 or not. I do. In the example of the moving body 10 of the present embodiment, in this step S4, the presence / absence of a passenger is determined based on the energized state or the non-energized state of the first steering impossible detection means 60. When the first steering impossible detection means 60 is in the energized state, it is determined that the passenger is on the vehicle body 11, so the control device 50 determines Yes and proceeds to step S5 to execute travel control. .

  FIG. 6 shows an example of a specific flow of travel control. In this travel control example, first, in step S11, the control device 50 detects a travel command value based on a detection signal of the tilt angle sensor 25 as a travel command detection means. In the moving body 10 of the present embodiment in which the tilt angle sensor 25 is used as the travel command detection means, the travel command value of the mobile body 10 is calculated by calculation based on the detected tilt angle of the handle 15. This travel command value is obtained as a value including the turning direction and acceleration of the moving body 10.

  After the travel command value is obtained, the control device 50 obtains the target outputs of the left wheel drive motor 31 and the right wheel drive motor 32 that drive the pair of wheels 13L and 13R by calculation in step S12. For example, the target output is calculated based on the map information stored in the storage unit 53 of the control device 50 in advance. At this time, the target output may be calculated in consideration of not only the inclination angle but also the amount of increase / decrease of the inclination angle per unit time (inclination angular velocity).

  Next, in step S13, the target outputs of the left wheel drive motor 31 and the right wheel drive motor 32 obtained in step S12 are converted into control signals representing current values and output to the motor drive circuits 41 and 42. As a result, the pair of wheels 13L and 13R are rotationally driven by the left wheel drive motor 31 and the right wheel drive motor 32, respectively, and a traveling state corresponding to a traveling command based on the intention of the passenger is realized. After finishing the output to the motor drive circuits 41 and 42, the process returns to step S3 again.

  On the other hand, in step S4, if the first maneuverability detection means 60 is in a non-energized state, it is determined that the passenger is not on the vehicle body 11, so the control device 50 determines No, and in step S6. Go ahead and execute forced stop control.

  FIG. 7 shows an example of a specific flow of forced stop control. In this forced stop control example, first, in step S21, the control device 50 sets the target outputs of the left wheel drive motor 31 and the right wheel drive motor 32 to zero. Next, the control device 50 converts the target outputs (= 0) of the left wheel drive motor 31 and the right wheel drive motor 32 obtained in step S22 into control signals representing current values, and sends them to the motor drive circuits 41 and 42. Output. As a result, the rotational speeds of the pair of wheels 13L and 13R go to zero, and the moving body 10 is stopped.

  At this time, in order to prevent the vehicle body 11 from overturning due to the forced stop of the moving body 10, the target outputs of the left wheel drive motor 31 and the right wheel drive motor 32 are not zero at a time but gradually zero. You may make it. In addition, if the mobile body 10 is forced to stop during turning, there is a high possibility that the mobile body 10 will fall down. Therefore, in the process of forcibly stopping the mobile body 10, forced stop control is performed while returning the mobile body 10 to the straight traveling state. It is preferable to carry out. After the moving body 10 is decelerated and stopped, the process returns to step S1 again and waits until the connector pins 61a and 61b are inserted into the sockets 62a and 62b.

  According to the mobile body 10 of the present embodiment described above, the control device 50 is used when the mobile body 10 falls or the passenger falls while the mobile body 10 is traveling with the passenger on board. The moving body 10 is forcibly stopped by detecting a fall or a fall. Therefore, the moving body 10 will not run away in a state in which it is impossible for the rider to control, and the risk of harm or damage to the rider, surrounding pedestrians, or objects present in the surrounding area is reduced. Will be able to.

  Moreover, in the mobile body 10 of this embodiment, when the fall of the mobile body 10 is detected by the inclination angle sensor 25 as the second steering impossible detection means 70, the power source of the mobile body 10 regardless of the presence or absence of a passenger. The mobile body 10 is forcibly stopped by shutting off. Therefore, it is possible to reliably prevent the runaway when the moving body 10 falls.

  Furthermore, in the moving body 10 of the present embodiment, the first maneuvering detection means 60 having a mechanical configuration is used as means for detecting the occupant's fall. Even if the moving body 10 is not overturned, the moving body 10 is forcibly stopped when the passenger falls, and the effectiveness of the forced stop control can be enhanced.

3. Other Embodiments The moving body 10 of the present embodiment is not limited to the examples described so far, and can be configured as follows.

  In the example of the moving body 10 described above, the first maneuvering detection means 60 is configured using the connector pins 61a and 61b, the sockets 62a and 62b, and the pin cord 63. The specific configuration is not limited to this example.

  For example, FIG. 8 shows a moving body 10A having a steering impossible detection means 60A configured using a load sensor provided on the upper surface or inside of the riding section 19 as the first steering impossible detection means. The moving body 10A is configured such that the control device 50 detects the fall of the occupant when the sensor value of the load sensor rapidly decreases using the fact that the sensor value of the load sensor varies depending on the applied pressure. Has been. A passenger's fall can be reliably detected also by such a steering impossible detection means 60A.

  Further, FIG. 9 shows a steering impossible detection means 60B using a sensor having a transmitter / receiver that transmits electromagnetic waves and optical waves and receives reflected waves as the first steering impossible detection means. As such a sensor, a known sensor such as a pyroelectric sensor, an infrared sensor, a laser, a radar, or a sensor capable of transmitting and receiving millimeter waves can be appropriately used. A passenger's fall can be reliably detected also by such a steering impossible detection means 60B.

  Alternatively, although not shown, an image processing apparatus using a camera can be configured to detect the fall of the passenger.

  Further, the presence or absence of the occupant may be estimated by the arithmetic processing by the control device 50 without using a mechanical configuration detection means such as a sensor. FIG. 10 shows an example of a specific flow of a method for determining the presence or absence of a fall by calculation processing, which is performed in place of step S4 in FIG.

  In the flow of FIG. 10, in step S21, the control device 50 calculates a target rotational speed Ntgt of at least one of the left wheel drive motor 31 and the right wheel drive motor 32 as rotating body drive means. The target rotation speed Ntgt can be obtained based on the target output calculated in step S12 in the flowchart of FIG. 6 described above, for example.

  Next, in step S22, the control device 50 detects the actual rotation speed Nact of the wheels 13L and 13R corresponding to the target rotation speed Ntgt calculated in step S21 using a rotation speed sensor provided on the axle or the like. . In step S23, control device 50 determines whether or not the difference between actual rotational speed Nact and target rotational speed Ntgt is equal to or greater than a predetermined threshold value ΔN0.

  In step S23, the load applied to the left wheel drive motor 31 and the right wheel drive motor 32 differs depending on whether the passenger is on the vehicle body 11 or not, and the motor is controlled with the same output. The presence or absence of the occupant's falling is determined by utilizing the fact that the actual rotational speed Nact of the wheels 13L and 13R is different. The threshold value ΔN0 can be obtained in advance through experiments or the like and stored in the control device 50. However, the threshold value ΔN0 may be corrected according to the weight of the passenger.

  When it is determined Yes in step S23, that is, when the difference between the actual rotational speed Nact and the target rotational speed Ntgt is equal to or larger than the threshold value ΔN0, the process proceeds to step S24, and the control device 50 causes the passenger to fall. It judges that it is, and complete | finishes determination. On the other hand, if it is determined No in step S23, that is, if the difference between the actual rotational speed Nact and the target rotational speed Ntgt is less than the threshold value ΔN0, the process proceeds to step S25, and the control device 50 causes the passenger to enter the vehicle body. 11 is judged to be on board and the determination is terminated.

  In this way, by configuring the control device 50 to determine whether or not the passenger has fallen, it is possible to estimate the passenger's fall without using a special sensor or the like.

  Further, instead of comparing the target rotational speed Ntgt with the actual rotational speed Nact, the target current values of the left wheel drive motor 31 and the right wheel drive motor 32 or the current values actually supplied are continuously detected and momentarily. It is also possible to detect the output torques of the left wheel drive motor 31 and the right wheel drive motor 32 that change as follows, and determine whether or not the vehicle is on board in comparison with the actual behavior (speed, acceleration, etc.) of the moving body 10. Specifically, the behavior of the moving body when a certain torque is applied to the moving body 10 can be calculated by an equation of motion, and by comparing the behavior obtained by calculation with the actual behavior, The presence or absence of a passenger can be determined. The equation of motion is disclosed in, for example, Japanese Patent Laid-Open No. 63-305082.

  In addition, about the means to detect a passenger's fall, and the means to detect the fall of the mobile body 10, not only one of the means described so far but also the mobile body 10 using several means simultaneously. May be configured. In this case, when a fall or a fall is detected by any one of the plurality of means, it may be determined that a fall or a fall has actually occurred, or in all of the plurality of means a fall or a fall It may be determined that a fall or a fall has actually occurred.

  Further, in the above-described moving body 10, traveling control of the moving body 10 is performed by a traveling command based on the inclination angle of the handle 15 or the riding section 19 or the position of the center of gravity of the occupant. The present invention can also be applied to a mobile body in which travel control of the mobile body 10 is performed based on a travel command manually input by a passenger or the like.

  In addition to the coaxial two-wheeled vehicle exemplified in the present embodiment, the movable body is also an inverted pendulum type mover such as a movable body using a cylindrical one-wheel rotating body or a moving body using a spherical rotating body. The present invention can be applied to the entire body.

10: inverted pendulum type moving body, 11: vehicle body, 13L, 13R: wheels, 15: handle, 17: motor box, 19: riding section, 25: inclination angle sensor (travel command detection means), 31: left wheel drive motor ( Wheel driving means), 32: right wheel driving motor (wheel driving means), 35: cylinder A (center of gravity position adjusting means), 36: cylinder B (center of gravity position adjusting means), 37: cylinder C (center of gravity position adjusting means), 41, 42: motor drive circuit, 45, 46, 47: cylinder drive circuit, 50: control device, 51: arithmetic circuit, 53: storage means, 60: first steering impossible detection means, 60A: steering impossible detection means ( Load sensor), 60B: steering impossible detection means (electromagnetic wave transmitter / receiver), 61a, 61b: connector pin, 62a, 62b: socket, 63a, 63b: cord, 65: connecting means, 7 : Tilt angle sensor (second uncontrollable state detection means)

Claims (7)

A vehicle body having a boarding section on which the passenger is boarded;
A rotating body rotatably supported by the vehicle body;
Rotator driving means for rotating the rotator;
A control device for controlling the rotating body driving means to travel the inverted pendulum type moving body while maintaining a balance according to a travel command;
Inverted pendulum type moving body with
Including a non-steering detection means for detecting a non-steering state by the passenger,
The control device stops the traveling of the inverted pendulum type moving body when the uncontrollable state is detected based on the information detected by the uncontrollable detection means.   The said operation impossible detection means detects the fall of the said passenger using the means for detecting whether the said passenger is boarding on the said boarding part. Inverted pendulum type moving body.   2. The steering impossible detection unit detects the fall of the occupant by a calculation comparing a target rotation number instructed to the rotating body driving unit and a rotation number of the rotating body. The inverted pendulum type moving body described in 1.   The inverted pendulum according to any one of claims 1 to 3, wherein the steering impossibility detecting means detects a fall of the inverted pendulum type moving body using means for detecting an inclination angle of the vehicle body. Type moving body.   The inverted pendulum type according to any one of claims 1 to 4, wherein the control device stops the traveling of the inverted pendulum type moving body by setting the output of the rotating body driving means to zero. Moving body.   6. The inverted pendulum type moving body according to claim 5, wherein the control device gradually decreases the output of the rotating body driving means to make the output zero.   The said control apparatus stops the driving | running | working of the said pendulum type moving body by interrupting | blocking a main power supply, The inverted pendulum type moving body as described in any one of Claims 1-4 characterized by the above-mentioned.

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